CN117341717A - Method and device for detecting vehicle control signal, vehicle and storage medium - Google Patents

Method and device for detecting vehicle control signal, vehicle and storage medium Download PDF

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Publication number
CN117341717A
CN117341717A CN202311309142.1A CN202311309142A CN117341717A CN 117341717 A CN117341717 A CN 117341717A CN 202311309142 A CN202311309142 A CN 202311309142A CN 117341717 A CN117341717 A CN 117341717A
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China
Prior art keywords
vehicle
abnormal
vehicle control
running track
actual
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CN202311309142.1A
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Chinese (zh)
Inventor
邬茜
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Dazhuo Intelligent Technology Co ltd
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Dazhuo Intelligent Technology Co ltd
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Priority to CN202311309142.1A priority Critical patent/CN117341717A/en
Publication of CN117341717A publication Critical patent/CN117341717A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application discloses a detection method, a detection device, a vehicle and a storage medium of a vehicle control signal, wherein the detection method comprises the following steps: acquiring original motion parameters and/or vehicle control instructions of the vehicle, calculating predicted motion parameters of the vehicle at a target moment according to the original motion parameters and/or the vehicle control instructions, and acquiring predicted running tracks of the vehicle by using the predicted motion parameters; obtaining an actual running track of the vehicle according to the actual motion parameters; comparing the actual running track with the predicted running track, judging that the vehicle is in an abnormal movement state under the condition that the deviation range of the actual running track and the predicted running track is larger than the preset range, generating an abnormal prompt based on the abnormal movement state, and sending the abnormal prompt to a preset terminal so as to safely prompt a driver. Therefore, the problem that the network attack is in false alarm or missing alarm risk due to the fact that only the CAN signals with the determined periodicity and range CAN be processed in the related technology is solved, the applicability is low, and the accuracy of vehicle control signal detection is reduced.

Description

Method and device for detecting vehicle control signal, vehicle and storage medium
Technical Field
The present disclosure relates to the field of unmanned technologies, and in particular, to a method and apparatus for detecting a vehicle control signal, a vehicle, and a storage medium.
Background
In the related art, intrusion prevention means for a CAN (Controller Area Network ) bus in a vehicle mainly guarantees the integrity of a received signal through a CAN id (CAN bus intrusion detection system) and a SecOC by detecting characteristic values such as a period and a range of the signal or freshness values of data packets, MAC (Multiple Access Channel ) values, and the like.
However, in the related art, only the CAN signal with a determined periodicity and range CAN be processed, and the bus load rule is determined according to the empirical threshold value obtained by multiple tests, so that the risk of false alarm or missing alarm exists in the network attack, the applicability is low, and the accuracy of detecting the vehicle control signal is reduced, so that the problem is to be solved.
Disclosure of Invention
The application provides a detection method, a detection device, a vehicle and a storage medium for a vehicle control signal, which are used for solving the problems that in the related art, only a CAN signal with a determined periodicity and range CAN be processed, and a bus load rule is determined according to an empirical threshold value obtained through multiple tests, so that network attack is at risk of false alarm or missing report, the applicability is low, and the accuracy of vehicle control signal detection is reduced.
An embodiment of a first aspect of the present application provides a method for detecting a vehicle control signal, including the following steps: acquiring an original motion parameter and/or a vehicle control instruction of a vehicle, calculating a predicted motion parameter of the vehicle at a target moment according to the original motion parameter and/or the vehicle control instruction, and acquiring a predicted running track of the vehicle by using the predicted motion parameter; acquiring actual motion parameters of the vehicle at the target moment, and acquiring an actual running track of the vehicle according to the actual motion parameters; comparing the actual running track with the predicted running track, judging that the vehicle is in an abnormal movement state when the deviation range of the actual running track and the predicted running track is larger than a preset range, generating an abnormal prompt based on the abnormal movement state, and sending the abnormal prompt to a preset terminal so as to safely prompt a driver.
Optionally, in one embodiment of the present application, the primary motion parameter includes at least one of an actual vehicle speed, a vehicle lateral/longitudinal acceleration, and a vehicle heading angle, and the vehicle control command includes at least one of a throttle signal, a brake signal, and a steering wheel angle signal.
Optionally, in an embodiment of the present application, the generating an abnormal alert based on the abnormal motion state and sending the abnormal alert to a preset terminal to make a safety alert for a driver includes: determining an abnormal grade according to the abnormal motion state; and according to the abnormal grade matching optimal abnormal reminding mode, carrying out safety reminding on the driver according to the optimal abnormal reminding mode.
Optionally, in an embodiment of the present application, the safety reminding for the driver according to the optimal abnormality reminding mode includes: acquiring an actual field of view of the driver; and determining a target position in the optimal abnormality reminding mode according to the actual field of view, and carrying out safety reminding on the driver according to the target position.
Optionally, in an embodiment of the present application, the method of an embodiment of the present application further includes: judging whether the vehicle starts abnormal reminding of a vehicle control signal or not; and under the condition that the vehicle starts the abnormal reminding of the vehicle control signal, sending the abnormal reminding to the preset terminal.
Optionally, in an embodiment of the present application, before sending the abnormality alert to the preset terminal, the method further includes: receiving a setting instruction of a user; and controlling the vehicle to turn on or off the abnormal reminding of the vehicle control signal according to the setting instruction.
Optionally, in one embodiment of the present application, after determining that the vehicle is in the abnormal motion state, the method further includes: and analyzing the abnormal motion state to obtain an abnormal analysis result, and sending the abnormal analysis result to the preset terminal.
An embodiment of a second aspect of the present application provides a detection apparatus for a vehicle control signal, including: the first acquisition module is used for acquiring original motion parameters and/or vehicle control instructions of the vehicle, calculating predicted motion parameters of the vehicle at a target moment according to the original motion parameters and/or the vehicle control instructions, and acquiring predicted running tracks of the vehicle by using the predicted motion parameters; the second acquisition module is used for acquiring actual motion parameters of the vehicle at the target moment and acquiring an actual running track of the vehicle according to the actual motion parameters; the processing module is used for comparing the actual running track with the predicted running track, judging that the vehicle is in an abnormal motion state when the deviation range of the actual running track and the predicted running track is larger than a preset range, generating an abnormal prompt based on the abnormal motion state, and sending the abnormal prompt to a preset terminal so as to safely prompt a driver.
Optionally, in one embodiment of the present application, the primary motion parameter includes at least one of an actual vehicle speed, a vehicle lateral/longitudinal acceleration, and a vehicle heading angle, and the vehicle control command includes at least one of a throttle signal, a brake signal, and a steering wheel angle signal.
Optionally, in one embodiment of the present application, the processing module includes: a determining unit for determining an abnormal level according to the abnormal motion state; and the processing unit is used for matching the optimal abnormality reminding mode according to the abnormality grade and carrying out safety reminding on the driver according to the optimal abnormality reminding mode.
Optionally, in an embodiment of the present application, the processing unit is further configured to obtain an actual field of view of the driver, determine, according to the actual field of view, a target position in the optimal abnormal alert mode, and alert the driver safely according to the target position.
Optionally, in an embodiment of the present application, the apparatus of an embodiment of the present application further includes: the judging module is used for judging whether the vehicle starts abnormal reminding of the vehicle control signal or not; the sending module is used for sending the abnormal prompt to the preset terminal under the condition that the vehicle starts the abnormal prompt of the vehicle control signal.
Optionally, in an embodiment of the present application, the apparatus of an embodiment of the present application further includes: the receiving module is used for receiving a setting instruction of a user before sending the abnormal prompt to the preset terminal; and the control module is used for controlling the vehicle to start or close the abnormal reminding of the vehicle control signal according to the setting instruction before sending the abnormal reminding to the preset terminal.
Optionally, in an embodiment of the present application, the apparatus of an embodiment of the present application further includes: and the determining module is used for analyzing the abnormal motion state after judging that the vehicle is in the abnormal motion state, obtaining an abnormal analysis result and sending the abnormal analysis result to the preset terminal.
An embodiment of a third aspect of the present application provides a vehicle, including: the vehicle control signal detection method comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the vehicle control signal detection method according to the embodiment.
A fourth aspect of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the method for detecting a vehicle control signal as above.
According to the method and the device for detecting the vehicle control signal, the predicted motion parameters of the vehicle at the target moment can be calculated according to the original motion parameters and/or the vehicle control instructions, so that the predicted running track of the vehicle is obtained, the actual running track of the vehicle is obtained according to the actual motion parameters, under the condition that the actual running track deviates from the predicted running track, the vehicle is judged to be in an abnormal motion state, an abnormal prompt is generated, the abnormal prompt is sent to a preset terminal, and safety prompt is carried out on a driver, so that the accuracy and the applicability of vehicle control signal detection are effectively improved. Therefore, the problems that in the related art, only the CAN signals with the determined periodicity and range CAN be processed, and the bus load rule is determined according to the empirical threshold value obtained by multiple tests, so that the risk of false alarm or missing alarm exists in network attack, the applicability is low, and the accuracy of vehicle control signal detection is reduced are solved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a flowchart of a method for detecting a vehicle control signal according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating a detection structure of a vehicle control signal according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a detection device for a vehicle control signal according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The following describes a method, an apparatus, a vehicle, and a storage medium for detecting a vehicle control signal according to an embodiment of the present application with reference to the accompanying drawings. Aiming at the problems that in the related technology mentioned in the background technology center, only the CAN signals with the determined periodicity and the determined scope CAN be processed, and the bus load rule is determined according to the empirical threshold value obtained by multiple tests, so that the network attack has the risk of false alarm or omission, the applicability is low, and the accuracy of the detection of the vehicle control signals is reduced. Therefore, the problems that in the related art, only the CAN signals with the determined periodicity and range CAN be processed, and the bus load rule is determined according to the empirical threshold value obtained by multiple tests, so that the risk of false alarm or missing alarm exists in network attack, the applicability is low, and the accuracy of vehicle control signal detection is reduced are solved.
Specifically, fig. 1 is a flow chart of a method for detecting a vehicle control signal according to an embodiment of the present application.
As shown in fig. 1, the method for detecting the vehicle control signal includes the following steps:
in step S101, an original motion parameter and/or a vehicle control command of the vehicle is obtained, a predicted motion parameter of the vehicle at a target time is calculated according to the original motion parameter and/or the vehicle control command, and a predicted travel track of the vehicle is obtained by using the predicted motion parameter.
It can be understood that the embodiment of the application may acquire the original motion parameter and/or the vehicle control instruction of the vehicle in the following steps, where the original motion parameter is a motion parameter of the vehicle in the unmanned mode, and the vehicle control instruction is a vehicle control instruction generated by the driver when taking over the vehicle, so that the predicted motion parameter of the vehicle at the next target moment may be calculated according to the original motion parameter and/or the vehicle control instruction, for example, the predicted motion parameter of the vehicle at the t moment may be used to obtain the predicted running track of the vehicle, thereby effectively improving the executability of the detection of the vehicle control signal.
The prediction model of the predicted motion trail of the vehicle in the embodiment of the present application may use a simple linear model, or may use a neural network model such as RNN (Recurrent neural network, cyclic neural network), LSTM (Long Short Term Memory ), etc., which is specifically set by a person skilled in the art according to the actual situation, and is not specifically limited herein.
Wherein, in one embodiment of the present application, the primary motion parameters include at least one of an actual vehicle speed, a vehicle lateral/longitudinal acceleration, and a vehicle heading angle, and the vehicle control command includes at least one of an accelerator signal, a brake signal, and a steering wheel angle signal.
In the actual execution process, the original motion parameters in the embodiment of the application are the actual speed of the vehicle in the unmanned mode, the transverse/longitudinal acceleration of the vehicle, the course angle of the vehicle and the like, and the vehicle control instruction is an accelerator signal, a brake signal, a steering wheel angle signal and the like sent by a human driver for taking over the vehicle, so that the predicted motion parameters of the vehicle at the next moment can be calculated according to the original motion parameters or the vehicle control instruction, and the accuracy of predicting the running track is effectively improved.
In step S102, an actual motion parameter of the vehicle at the target time is acquired, and an actual running track of the vehicle is obtained according to the actual motion parameter.
It can be understood that the embodiment of the application can acquire the actual motion parameters of the vehicle at the target moment, for example, the actual motion parameters such as the actual speed, the transverse/longitudinal acceleration, the heading angle and the like of the vehicle at the moment t can be acquired in the running process of the vehicle, and the actual running track of the vehicle is acquired according to the actual motion parameters, so that the executable performance of the detection of the vehicle control signals is effectively improved.
In step S103, the actual running track and the predicted running track are compared, and if the deviation range of the actual running track and the predicted running track is greater than the preset range, the vehicle is determined to be in an abnormal movement state, an abnormal prompt is generated based on the abnormal movement state, and the abnormal prompt is sent to the preset terminal, so as to prompt the driver safely.
It can be appreciated that, in the embodiment of the present application, the actual running track and the predicted running track may be compared, and when the deviation range of the actual running track and the predicted running track is greater than a certain range, the vehicle is determined to be in an abnormal motion state, so that the vehicle control signal has a risk of being tampered, so that an abnormal alert may be generated based on the abnormal motion state in the following steps, and the abnormal alert may be sent to a preset terminal, for example, the abnormal alert of the vehicle may be sent to a mobile phone end of a user or a central control screen of the vehicle, so as to perform a safety alert for a driver, improve accuracy of detection of the vehicle control signal, and improve safety and reliability of the vehicle.
It should be noted that the preset range and the preset terminal are set by those skilled in the art according to actual situations, and are not specifically limited herein.
In one embodiment of the present application, generating an abnormal alert based on an abnormal movement state and sending the abnormal alert to a preset terminal to safely alert a driver, including: determining an abnormal grade according to the abnormal motion state; and according to the abnormal grade matching optimal abnormal reminding mode, carrying out safety reminding on the driver according to the optimal abnormal reminding mode.
For example, the embodiment of the application may divide the class range according to the deviation range of the actual running track and the predicted running track of the vehicle, when the vehicle is in the first class range, the vehicle is in a normal running state, no reminding is needed, when the vehicle is in the second class range, the vehicle is in a light deviation state, the text of "vehicle light deviation please pay attention to safe driving" is displayed through the vehicle instrument panel, when the vehicle is in the third class range, the vehicle is in a heavy deviation state, the vehicle seat vibrates, and the voice reminding of "the vehicle control system is tampered and please take over the vehicle" is sent out, so that the driver is timely and safely reminded, and the accuracy of the detection of the vehicle control signal is effectively improved.
In one embodiment of the present application, the method for safely reminding the driver according to the optimal abnormality reminding mode includes: acquiring an actual field of view of a driver; and determining a target position in the optimal abnormal reminding mode according to the actual field of view, and carrying out safety reminding on the driver according to the target position.
For example, the embodiment of the application can acquire the actual field of view of the user through the camera in the vehicle, when the actual field of view of the user looks at the instrument panel, the abnormal prompt is displayed through the instrument panel, and when the actual field of view of the driver looks at the central control screen, the abnormal prompt is displayed through the central control screen, so that the interactivity of the vehicle is effectively improved, and the vehicle using experience of the user is improved.
Optionally, in an embodiment of the present application, the method of an embodiment of the present application further includes: judging whether the vehicle starts abnormal reminding of the vehicle control signal or not; and under the condition that the vehicle is started and the vehicle control signal is abnormally reminded, sending the abnormal reminder to a preset terminal.
For example, the embodiment of the application can judge whether the driver starts the abnormal reminding of the vehicle control signal, and when the vehicle starts the abnormal reminding of the vehicle control signal, the abnormal reminding is sent to the mobile phone end of the driver or the central control screen of the vehicle, so that the driver is prompted to pay attention to the safety of the vehicle, and the intelligent level of the vehicle is effectively improved.
Optionally, in an embodiment of the present application, before sending the abnormality alert to the preset terminal, the method further includes: receiving a setting instruction of a user; and controlling the vehicle to turn on or turn off the abnormal reminding of the vehicle control signal according to the setting instruction.
In the actual implementation process, the driver can start the abnormal reminding of the car control signal through the physical key, or can start the abnormal reminding of the car control signal through sending out voice of 'hello, XX car, please open the abnormal reminding of the car control signal', so that the embodiment of the application can start or close the abnormal reminding of the car control signal according to the setting instruction of the driver, the intelligent level of the car is effectively improved, and the driving experience of a user is improved.
Optionally, in one embodiment of the present application, after determining that the vehicle is in the abnormal motion state, the method further includes: and analyzing the abnormal motion state to obtain an abnormal analysis result, and sending the abnormal analysis result to a preset terminal.
For example, the embodiment of the application can record the abnormal motion state in a log and upload the abnormal motion state to a VSOC (Vehicle Security Operations Center, a vehicle safety control center), a related technician analyzes the cause of the abnormal motion state to obtain an abnormal analysis result, and the abnormal analysis result is sent to a mobile phone end of a driver or a vehicle central control screen, so that the accuracy of vehicle control signal detection is effectively improved, the safety and reliability of a vehicle are improved, and the driving requirement of a user is met.
For example, as shown In fig. 2, a schematic structural diagram of detection of a vehicle control signal In an embodiment of the present application is shown, where a vehicle sensor may obtain a vehicle running state parameter of a vehicle when the vehicle is driven by a smart driving system, that is, a vehicle primary motion parameter, and predict a next time t vehicle running state parameter according to the primary motion parameter, that is, a predicted running parameter, so as to obtain a vehicle running state, that is, a predicted running track, and obtain a parameter of the vehicle running state of the vehicle at the time t, that is, an actual motion parameter of the vehicle, and obtain an actual running track of the vehicle, and compare the actual running track with the predicted running track, and when the actual running track deviates from a range of a preset running track, the power system determines that the vehicle control signal is tampered, and informs a driver of abnormal vehicle motion through an IVI (In-Vehicle Infotainment, a vehicle-mounted infotainment system), so as to effectively improve accuracy of vehicle running state detection, improve safety and reliability of the vehicle, and meet driving requirements of users.
According to the detection method of the vehicle control signal, the predicted motion parameter of the vehicle at the target moment can be calculated according to the original motion parameter and/or the vehicle control instruction, so that the predicted running track of the vehicle is obtained, the actual running track of the vehicle is obtained according to the actual motion parameter, under the condition that the actual running track deviates from the predicted running track, the vehicle is judged to be in an abnormal motion state, an abnormal reminding is generated, and the abnormal reminding is sent to the preset terminal, so that the driver is safely reminded, and therefore the accuracy and the applicability of vehicle control signal detection are effectively improved. Therefore, the problems that in the related art, only the CAN signals with the determined periodicity and range CAN be processed, and the bus load rule is determined according to the empirical threshold value obtained by multiple tests, so that the risk of false alarm or missing alarm exists in network attack, the applicability is low, and the accuracy of vehicle control signal detection is reduced are solved.
Next, a detection device for a vehicle control signal according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 3 is a block schematic diagram of a detection device for a vehicle control signal according to an embodiment of the present application.
As shown in fig. 3, the detection device 10 for a vehicle control signal includes: a first acquisition module 100, a second acquisition module 200, and a processing module 300.
Specifically, the first obtaining module 100 is configured to obtain an original motion parameter and/or a vehicle control instruction of the vehicle, calculate a predicted motion parameter of the vehicle at a target time according to the original motion parameter and/or the vehicle control instruction, and obtain a predicted running track of the vehicle by using the predicted motion parameter.
The second obtaining module 200 is configured to obtain an actual motion parameter of the vehicle at the target moment, and obtain an actual running track of the vehicle according to the actual motion parameter.
The processing module 300 is configured to compare the actual running track with the predicted running track, determine that the vehicle is in an abnormal motion state when the deviation range of the actual running track and the predicted running track is greater than a preset range, generate an abnormal alert based on the abnormal motion state, and send the abnormal alert to a preset terminal to alert the driver safely.
Optionally, in one embodiment of the present application, the primary motion parameter includes at least one of an actual vehicle speed, a vehicle lateral/longitudinal acceleration, and a vehicle heading angle, and the vehicle control command includes at least one of a throttle signal, a brake signal, and a steering wheel angle signal.
Optionally, in one embodiment of the present application, the processing module 300 includes: a determining unit and a processing unit.
And the determining unit is used for determining the abnormal grade according to the abnormal motion state.
And the processing unit is used for matching the optimal abnormality reminding mode according to the abnormality grade and carrying out safety reminding on the driver according to the optimal abnormality reminding mode.
Optionally, in an embodiment of the present application, the processing unit is further configured to obtain an actual field of view of the driver, determine a target position in the optimal abnormal alert mode according to the actual field of view, and alert the driver safely according to the target position.
Optionally, in an embodiment of the present application, the apparatus 10 of an embodiment of the present application further includes: the device comprises a judging module and a sending module.
The judging module is used for judging whether the vehicle starts abnormal reminding of the vehicle control signal or not.
The sending module is used for sending the abnormal prompt to the preset terminal under the condition that the vehicle is started and the vehicle control signal is abnormally prompted.
Optionally, in an embodiment of the present application, the apparatus 10 of an embodiment of the present application further includes: a receiving module and a control module.
The receiving module is used for receiving a setting instruction of a user before sending the abnormal prompt to the preset terminal.
The control module is used for controlling the vehicle to start or stop the abnormal reminding of the vehicle control signal according to the setting instruction before the abnormal reminding is sent to the preset terminal.
Optionally, in an embodiment of the present application, the apparatus 10 of an embodiment of the present application further includes: and a determining module.
The determining module is used for analyzing the abnormal motion state after the vehicle is judged to be in the abnormal motion state, obtaining an abnormal analysis result and sending the abnormal analysis result to the preset terminal.
It should be noted that the foregoing explanation of the embodiment of the method for detecting a vehicle control signal is also applicable to the device for detecting a vehicle control signal in this embodiment, and will not be repeated here.
According to the detection device for the vehicle control signal, the predicted motion parameters of the vehicle at the target moment can be calculated according to the original motion parameters and/or the vehicle control instructions, so that the predicted running track of the vehicle is obtained, the actual running track of the vehicle is obtained according to the actual motion parameters, under the condition that the actual running track deviates from the predicted running track, the vehicle is judged to be in an abnormal motion state, an abnormal reminding is generated, and the abnormal reminding is sent to the preset terminal, so that the driver is safely reminded, and therefore the accuracy and the applicability of vehicle control signal detection are effectively improved. Therefore, the problems that in the related art, only the CAN signals with the determined periodicity and range CAN be processed, and the bus load rule is determined according to the empirical threshold value obtained by multiple tests, so that the risk of false alarm or missing alarm exists in network attack, the applicability is low, and the accuracy of vehicle control signal detection is reduced are solved.
Fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
memory 401, processor 402, and a computer program stored on memory 401 and executable on processor 402.
The processor 402 implements the method for detecting a vehicle control signal provided in the above embodiment when executing a program.
Further, the vehicle further includes:
a communication interface 403 for communication between the memory 401 and the processor 402.
A memory 401 for storing a computer program executable on the processor 402.
Memory 401 may comprise high-speed RAM memory or may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 may be connected to each other by a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a chip, the memory 401, the processor 402, and the communication interface 403 may complete communication with each other through internal interfaces.
The processor 402 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more integrated circuits configured to implement embodiments of the present application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of detecting a vehicle control signal as described above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (10)

1. The detection method of the vehicle control signal is characterized by comprising the following steps of:
acquiring an original motion parameter and/or a vehicle control instruction of a vehicle, calculating a predicted motion parameter of the vehicle at a target moment according to the original motion parameter and/or the vehicle control instruction, and acquiring a predicted running track of the vehicle by using the predicted motion parameter;
acquiring actual motion parameters of the vehicle at the target moment, and acquiring an actual running track of the vehicle according to the actual motion parameters; and
comparing the actual running track with the predicted running track, judging that the vehicle is in an abnormal movement state when the deviation range of the actual running track and the predicted running track is larger than a preset range, generating an abnormal prompt based on the abnormal movement state, and sending the abnormal prompt to a preset terminal so as to safely prompt a driver.
2. The method of claim 1, wherein the raw motion parameters include at least one of actual vehicle speed, vehicle lateral/longitudinal acceleration, and vehicle heading angle, and the vehicle control commands include at least one of throttle signals, brake signals, and steering wheel angle signals.
3. The method of claim 1, wherein the generating an abnormal alert based on the abnormal movement state and transmitting the abnormal alert to a preset terminal to safely alert a driver comprises:
determining an abnormal grade according to the abnormal motion state;
and according to the abnormal grade matching optimal abnormal reminding mode, carrying out safety reminding on the driver according to the optimal abnormal reminding mode.
4. A method according to claim 3, wherein said providing a safety reminder to said driver in said optimal anomaly alert mode comprises:
acquiring an actual field of view of the driver;
and determining a target position in the optimal abnormality reminding mode according to the actual field of view, and carrying out safety reminding on the driver according to the target position.
5. The method as recited in claim 1, further comprising:
judging whether the vehicle starts abnormal reminding of a vehicle control signal or not;
and under the condition that the vehicle starts the abnormal reminding of the vehicle control signal, sending the abnormal reminding to the preset terminal.
6. The method of claim 1, further comprising, prior to sending the anomaly alert to the preset terminal:
receiving a setting instruction of a user;
and controlling the vehicle to turn on or off the abnormal reminding of the vehicle control signal according to the setting instruction.
7. The method according to claim 1, characterized by further comprising, after determining that the vehicle is in an abnormal motion state:
and analyzing the abnormal motion state to obtain an abnormal analysis result, and sending the abnormal analysis result to the preset terminal.
8. A vehicle control signal detection device, comprising:
the first acquisition module is used for acquiring original motion parameters and/or vehicle control instructions of the vehicle, calculating predicted motion parameters of the vehicle at a target moment according to the original motion parameters and/or the vehicle control instructions, and acquiring predicted running tracks of the vehicle by using the predicted motion parameters;
the second acquisition module is used for acquiring actual motion parameters of the vehicle at the target moment and acquiring an actual running track of the vehicle according to the actual motion parameters; and
the processing module is used for comparing the actual running track with the predicted running track, judging that the vehicle is in an abnormal motion state when the deviation range of the actual running track and the predicted running track is larger than a preset range, generating an abnormal prompt based on the abnormal motion state, and sending the abnormal prompt to a preset terminal so as to safely prompt a driver.
9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of detecting a vehicle control signal as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for realizing the detection method of a vehicle control signal according to any one of claims 1 to 7.
CN202311309142.1A 2023-10-09 2023-10-09 Method and device for detecting vehicle control signal, vehicle and storage medium Pending CN117341717A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311309142.1A CN117341717A (en) 2023-10-09 2023-10-09 Method and device for detecting vehicle control signal, vehicle and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311309142.1A CN117341717A (en) 2023-10-09 2023-10-09 Method and device for detecting vehicle control signal, vehicle and storage medium

Publications (1)

Publication Number Publication Date
CN117341717A true CN117341717A (en) 2024-01-05

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